High density automated storage and retrieval system

ABSTRACT

A multi-dimensional automated storage and retrieval system is provided herein that enables the space-efficient storage of containers within a three-dimensional lattice structure. Each container includes one or more drivers to engage with rails of the three-dimensional lattice structure, enabling the container to slide along the rails based on a propulsion system. A control device is provided to selectively engage each container to a desired rail of the lattice structure, and to provide power to the propulsion system, thereby moving the container to a desired location within the lattice structure. Due to the high storage efficiency of the disclosed automated storage and retrieval system, the system may be utilized in space-sensitive applications, such as vending machines for physical goods or in cargo vehicles such as trailers.

BACKGROUND

Automated storage and retrieval systems are frequently utilized bywarehouses or other storage or fulfillment centers to store and retrievephysical items. These automated storage and retrieval systems ofteninclude computer-controlled retrieval machines that move alongpredetermined paths to retrieve storage bins (or other storage units)and deliver the bin to a human operator or other automated system. Forexample, a carousel-type automated storage and retrieval systemgenerally places all items within a rotational carousel of holdinglocations. To retrieve an item from a carousel-type automated storageand retrieval system, the system rotates the carousel until the desireditem is at a predetermined load and unload point on the carousel. Asanother example, unit load automated storage and retrieval systemstypically utilize discrete retrieval machines that move vertically andhorizontally along a shelf of stored goods, and include mechanisms toplace or retrieve objects from the shelves.

Often, a significant portion of the space used by an automated storageand retrieval system is unusable for storage. For example, in a unitload system, each retrieval unit generally requires a portion of spacebetween each shelf to allow the retrieval unit to access every item onthe shelf. While carousel-units are more space efficient, retrieval ofan item from these units requires cycling each stored item, reducingretrieval speed significantly.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustrative depiction of a multidimensional automatedstorage and retrieval system (ASRS) in accordance with embodiments ofthe present disclosure;

FIG. 2A is a schematic, top-front isometric view of a portion of theASRS, including a container enabled to move through the ASRS withoutrequiring a distinct retrieval unit;

FIG. 2B is a schematic, bottom-rear isometric view of the portion of theASRS of FIG. 2A;

FIG. 3A is a schematic, top-front isometric view of the container,including drivers that enable movement through the ASRS;

FIG. 3B is a schematic, bottom-rear isometric view of the container ofFIG. 3A, including supports used to stabilize the container while movingthrough the ASRS;

FIGS. 4A-4D are schematic side views of a driver, while in both engagedand unengaged positions;

FIG. 5A is a schematic, isometric view of a rail that may form part ofthe ASRS;

FIG. 5B is a schematic, cross-section view of the rail along the lineshown in FIG. 5A, as well as a driver during initial engagement with therail;

FIG. 5C is a schematic, cross-section view of the rail along the lineshown in FIG. 5A, as well as a driver after engagement with the rail;and

FIG. 6 is a flow chart depicting an illustrative routine for moving acontainer within the ASRS of FIG. 1 from a first rail of the ASRS to asecond rail of the ASRS.

DETAILED DESCRIPTION

Generally described, aspects of the present disclosure relate to amulti-dimensional automated storage and retrieval system (ASRS) thatprovides high utilization of storage space while enabling rapidretrieval of any stored item. Specifically, a multi-dimensional ASRS isdisclosed that utilizes a three-dimensional lattice of rails, spaced atregular intervals, each of which includes a drive chain or otherpropulsion system usable by containers stored within the ASRS.Containers within the ASRS are sized to fit between rails of thelattice, and include drivers that can selectively engage with thepropulsion system within each rail. A control system monitors thelocation of each container, and enables containers to be moved to anylocation (such as a load/unload location) within the ASRS. Specifically,the control system communicates with each container within the ASRS, andindividually instructs the containers to engage or disengage a rail in adirection of travel (e.g., along an X, Y or Z axis). The control systemthereafter engages the propulsion system of the rails to move one ormore containers within the lattice. Because each container within theASRS is individually movable, each container can be moved to anylocation within the ASRS so long as the space of a single containerwithin the ASRS is left empty. The movement of containers within theASRS can be achieved by viewing the configuration of the ASRS as athree-dimensional version of a two-dimensional “sliding block puzzle,”where each container represents a block within the puzzle. Because onlya single container-sized space need remain empty, the disclosed ASRS isable to utilize nearly all of the space available to the ASRS forstorage purposes. Further, the control system can be programmed toselect the most efficient path to move containers within the ASRS, suchthat load and unload operations require movement of only a small numberof the total containers within the ASRS. Due to the high storageefficiency of the disclosed ASRS, the ASRS may be utilized inspace-sensitive applications, such as vending machines for physicalgoods or in cargo vehicles such as trailers.

The foregoing aspects and many of the attendant advantages of thepresent disclosure will become more readily appreciated as the samebecome better understood by reference to the following, when taken inconjunction with the accompanying drawings.

FIG. 1 is a projection of a multidimensional ASRS 100 according toembodiments of the present disclosure. As shown in FIG. 1, the ASRS 100includes a series of rails 102 or other support members in each of threedimensions, labeled as X, Y, and Z, respectively, forming a latticestructure. The spaces between the rails 102 define cavities throughwhich containers (not shown in FIG. 1) may move within the ASRS 100. Inthe illustrative embodiment of FIG. 1, the rails 102 are spaced at aneven distance D, such that the cavities between the rails 102 arecubical. In other embodiments, the distance between the rails in anygiven dimension (e.g., D_(x), D_(y), D_(z)) may vary, such that thecavities between the rails 102 form any rectangular prism. As will bedescribed below, containers may be shaped to fit within the cavitiesbetween rails 102, such that they may be moved throughout the ASRS 100in any of the three dimensions.

To enable movement of containers throughout the lattice structure of theASRS 100, each rail 102 includes a propulsion device (not shown in FIG.1), such as a chain or belt device, attached to a driving mechanism 104.As described in more detail below, each container within the ASRS 100may selectively attach to the propulsion device of a rail 102 in eitherthe X, Y or Z dimension, after which the driving mechanism 104 may beused to move the container in either a forward or reverse directionalong the rail 102. In one embodiment, the driving mechanism 104 foreach rail 102 is an individual motor capable of moving the containers inincrements of w (the width of one rail 102) and D (the distance betweenrails 102, including the width of one rail 102). In another embodiment,the driving mechanism 104 is a transmission or other detachable couplingconnected to a motor shared between multiple rails 102, such that theshared motor may provide propulsion to multiple rails 102. For example,a transmission for each rail 102 may be attached to a shared motor suchthat the transmission can be in either a neutral, forward, or reversegear. In this way, multiple containers within the ASRS 100 may be movedsimultaneously. In some embodiments, only a single rail 102 is requiredto provide propulsion at any time, and thus, shared motors between rails102 may reduce the cost and complexity of the ASRS 100. Moreover,because many embodiments require each rail to move containers at fixedmultiples of D, multiple rails 102 may be connected to a single motorwithout requiring intermediate gearing to vary the speed of propulsionprovided among rails 102.

The driving mechanism 104 for each rail 102 may be controlled by acontrol system 106, which includes a computing device configured withspecific computer-executable instructions to move containers within theASRS 100. Illustratively, the control system 106 may include one or moreprocessors and memories collectively configured to enable movement andtracking of containers within the lattice 101, as described herein. Thecontrol system 106 may further include a data store, which maycorrespond to any persistent or substantially persistent storage device(e.g., a hard disk drive, solid state disk drive, flash memory, etc.)utilized to store information regarding the state of the lattice 101,including positions of containers included within the lattice 101 and/oritems stored within containers included within the lattice 101.Furthermore, the control system 106 can include input/output interfacesenabling communication between the control system 106 and components ofthe ASRS 100, including but not limited to containers within the lattice101 and driving mechanisms 104 associated with rails 102 of the lattice101.

In an illustrative embodiment, the control system 106 is incommunication with each container via either a wireless or wiredcommunication channel, as described in more detail below. The controlsystem 106 may instruct individual containers to attach to an adjacentrail 102 within the ASRS, thereby causing the containers to move alongthe rail 102 when the motor 104 connected to the rail 102 is engaged.Thereafter, the control system 106 can cause the motor to engage withand provide propulsion along the rail 102. In one embodiment, each motor104 (either individual to a rail 102 or shared between rails 102) is aservomotor providing a closed-loop servomechanism, such that the controlsystem 106 can accurately control the position of the propulsion devicewithin the rail 102 (and, therefore, the position of each container102). Thus, by instructing a container to attach to a rail 102, andcausing a motor to provide power to the propulsion system of that rail102, the control system 106 can move the container along the rail 102.Because multiple containers may be aligned to a single rail, the controlsystem 106 may cause multiple containers to move along the railsimultaneously, under power of the rail 102's propulsion device. In someembodiments, the control system 106 can provide power to a number ofdifferent rails 102 within the ASRS 100, and therefore may move anynumber of containers within the ASRS 100 simultaneously.

To assist in storage and retrieval of containers within the ASRS 100,the control system 106 may be configured to track the location of eachcontainer within the ASRS 100. As such, each container can be associatedwith an identifier, such as a serial number, and a position within theASRS 100. In one embodiment, positions within the ASRS 100 areidentified as a triple value, corresponding to the X, Y, and Z locationof the container within the ASRS 100 lattice. For example, a containerbetween the first and second rails 102 in a given axis of the ASRS 100may be in position zero with respect to that axis. Thus, a container inposition “000” would be located between the first and second rails 102of each of the X, Y and Z axes. A container in the position “001” wouldbe located between the first and second rails 102 of the X and Y axes,and between the second and third rails 102 of the Z axis. When acontainer is moved from one position within the ASRS 100 lattice to thenext, the control system 106 can update the container's position withina database or other data store (either included within or external tothe control system 106), and thus maintain an accurate position for eachcontainer within the ASRS 100. One of skill in the art will recognizethat the other systems are possible to track the position of thecontainer within the ASRS 100 lattice.

The ASRS 100 lattice may include a load/unload position (e.g., position“000” within the lattice) to enable containers to be placed into andremoved from the ASRS 100. When a container is placed within theload/unload position, the control system 106 can obtain an identifier ofthe container (e.g., via communication with the container, as will bedescribed below), and cause the container to be moved to alternativepositions within the ASRS 100 lattice. The control system 106 can thestore the final position of the container within a database of containerpositions, so that the container may later be retrieved. To retrieve acontainer from the ASRS 100, an operator (either human or automated) canrequest that a container (e.g., specified by container identifier) bemoved to the load/unload position. The control system 106 can then causethe container to be moved to the load/unload position for removal.

Because many containers may be included within the ASRS 100 lattice,moving a single container throughout the lattice may require shifting ofmany other containers also within the lattice. In this regard, movementof containers through the ASRS 100 lattice can be viewed as athree-dimensional version of the common two-dimensional “sliding blockpuzzle.” As in common sliding block puzzles, only a single positionwithin the ASRS 100 lattice need be unoccupied to enable a container tobe moved to any position within the ASRS 100 lattice. However, multipleunoccupied positions may enable containers to be moved throughout thelattice 101 more rapidly. In one embodiment, the control system 106 canmaintain a virtual representation of the lattice 101 within a memory ofthat system 106, and can execute an algorithm for solving a slidingblock puzzle corresponding to the lattice 101 in order to move aspecified container in the lattice to a specified position. Thereafter,the control system 106 can execute the shifting of containers necessaryto move the specified container within the lattice 101 to the specifiedposition, which may be the load/unload position.

One illustrative algorithm for shifting containers within the lattice101 will be generally described with reference to a lattice 101 thatincludes at least one empty cavity (e.g., a location between rails ineach of the X, Y and Z dimensions not occupied by a container). For thepurposes of description, it will be assumed that this cavity may be“shifted” within the lattice 101. However, one of skill in the art willappreciate that “shifting” of a cavity is an expression of conveniencethat refers to the shifting of containers within the lattice 101 tocreate a cavity in a desired location. Within the lattice 101, a cavitymay be generally shifted to any position by no more than threeoperations (where an operation includes moving one or more containerssimultaneously along a specific rail 102 by engaging the one or morecontainers to the rail 102 and powering the rail 102's propulsiondevice). In order to move a container within a desired direction (e.g.,positively or negatively within a given dimension), the cavity may bemoved in the lattice 101 to be located adjacent to the container in thatdesired direction. Thereafter, the container may be shifted into theposition of the cavity. This operation (e.g., movement of a cavity andshifting of a container into that cavity) can then be repeated to move acontainer any number of positions within a desired direction. Thus, thecontrol system 106 may move a container from any current position withinthe lattice 101 to any desired position, by first determining a triplevector representing the difference between the current position and thedesired position as a function of three dimensions (e.g., “N_(x), N_(y),N_(z)” where each value specifies a movement in one of the X, Y or Zdimensions in order to arrive at the desired potion), and then movingthe container according to the vector (e.g., first moving the containerN_(x) positions in the X dimension, then N_(y) positions in the Ydimension, and then N_(z) positions in the Z dimension). While onealgorithm for moving containers within the lattice 101 is describedherein, the control system 106 may additionally or alternativelyimplement other algorithms, such as those developed to solve slidingblock puzzles. Algorithms for solving a sliding block puzzle are knownin the art, and therefore will not be described in detail herein.

In one embodiment, the control system 106 may further be configured tomaintain an inventory of items stored within containers. For example,when a container is placed within the ASRS 100, an operator (eitherhuman or automated) may report the contents of the container to thecontrol system 106. Thereafter, an operator may request an item from theASRS 100, and the control system 106 may cause the container storing therequested item to be moved to a load/unload position of the lattice 101.

FIGS. 2A and 2B are schematic depictions of one portion of the ASRSlattice 101, forming a single cavity occupied by a container 200.Specifically, FIG. 2A shows a top-front view of the lattice 101 andcontainer 200, while FIG. 2B shows a bottom-rear view of the lattice 101and container 200. For ease of reference, both FIGS. 2A and 2B will bediscussed simultaneously.

As shown in FIGS. 2A and 2B, the cavity is formed by twelve rails 102,four parallel rails enabling movement in the X dimension (labeled inFIG. 2 as 102A-D), four parallel rails enabling movement in the Ydimension (labeled in FIG. 2 as 102E-H), and four parallel railsenabling movement in the Z dimension (labeled in FIG. 2 as 102I-L). Asshown in FIG. 2A, the rails 102 of any given dimension do not directlyintersect with the rails 102 of the other dimensions, but are slightlyskewed so that a container 200 may slide along the rail 102 unimpeded.Thus, the container 200 may slide in X dimension along rail 102A, in theY dimension along rail 102H, and in the Z dimension along rail 102K. Thespecific rails 102 along which the container 200 moves may be altered byrotating or inverting the configuration of the rails 102, and maytherefore vary among embodiments of this disclosure.

The container 200 can be sized to enable the container 200 to movebetween the rails 102 without contact. As shown in FIGS. 2A and 2B, thespaces between two adjacent, parallel rails 102 (sharing a common X, Yor Z-dimensional plane) in the lattice 101 are of a width equal to thespacing of the rails 102 (“D”), minus the width of one rail 102 (“w”).Accordingly, the illustrative container 200 of FIGS. 2A and 2B forms acube, with edges of length l, where l is no larger than D minus 2w(where one value of w represents the width of the rails 102 thecontainer moves past, and the second value of w represents the width ofthe rail 102 the container moves along). When the edges of the container200 are set at exactly length l, the container will fit through thelattice 101 with no more than w distance between the container 200 andany rail 102.

To enable movement along the rails 102, each rail 102 includes at leastone face to which the container 200 can be attached. Specifically, inFIG. 2A, the container 200 may attach to the rail 102A via the rail face104A, to the rail 102H via the rail face 104H, and to the rail 102K viathe rail face 104K. To attach to each rail 102, the container 200includes at least one driver 202 for each dimension X, Y, and Z. Asdiscussed in more detail below, each driver corresponds to acomputer-controlled member that may be selectively attached to the rails102 to enable connection with and movement along the rail 102. In someembodiments, the faces of the rail 102 to which the container 200engages may also be modified from the embodiment described in FIG. 2A.In general, the container 200 may engage with any face of a rail 102 ina given dimension that is directed away from corresponding rails 102 inthe other two dimensions of the lattice 101. For example, to enablemovement in the X dimension, the container 200 may engage with eitherface 104A (as shown in FIG. 2A), or the face of rail 102A that extendsin the negative Y direction. Similarly, to enable movement in the Ydimension, the container 200 may engage with either face 104H (as shownin FIG. 2A), or the face of rail 102H that extends in the positive Xdirection. Modification of the rail faces to which a container 200engages may also require corresponding modification in the stabilizers206, which are discussed in more detail below.

In the illustrative embodiment, two drivers 202 for each dimension areincluded within the container 200, though fewer or more drivers 202 foreach dimension may be provided within each container 200. In FIG. 2A,the drivers 202 enabling movement in the Y dimension are shown asdrivers 202A and 202B, while the drivers 202 enabling movement in the Zdimension are shown as drivers 202C and 202D. The container 200 is shownin FIGS. 2A and 2B as connected to rail 102A, and therefore the drivers202 enabling movement in the X direction are hidden from view in FIGS.2A and 2B by rail 102A. While the drivers 202 of FIG. 2A are shown inthe extended position, each driver 202 may be retracted flush with thesurface of the container 200 to enable unfettered movement when not inuse. As such, the drivers 202A and 202B may be extended only when thecontainer 200 is moved in the Y dimension, drivers 202C and 202D may beextended only when the container 200 is moved in the Z dimension, etc.Extension and retraction of the drivers can be controlled by the controlsystem 106.

The control system 106 can further utilize the drivers 202 to switchattachment of the container 200 between rails 102 of differentdimensions. Specifically, each driver 202 may be extendable from thecontainer 202 at least a distance necessary to attach to any adjacentrail 102. As noted above, where the container 100 forms a cube withedges of length l (equal to D minus 2w), the container 100 will be nofurther than the distance w from any adjacent rail 102, when moved toalign with that rail 102. In such embodiments, each driver 202 may beextendable from the container 200 by at least a predetermined distancegreater than the distance w in order to engage with another rail 102. Inorder to attach to an adjacent rail, the control system 106 can alignthe container 200 with a desired rail 102, extend the driver 202 thelength necessary to contact the rail 102, and engage the driver 202 withthe rail 102. The specific process by which a driver 102 may be attachedto a rail is discussed below in more detail with respect to FIGS. 4A-5C.

As one illustrative example, assume that the control system 106determines that the container 200 should be detached from rail 102A(enabling movement in the X dimension) and attached to rail 102K(enabling movement in the Z dimension). As shown in FIGS. 2A and 2B, thecontainer 200 is currently aligned with rail 102K (e.g., the edge 208Aof the container 200 is across from face 104K of the rail 102K, suchthat moving the container 200 in the X direction will cause the edge208A to overlap face 104K). Accordingly, the control system 106 mayinstruct the container 200 to extend the drivers 202C and 202D (shown inFIG. 2B) to engage with the face 104K. The control system 106 can theninstruct the container 200 to detach the drivers 202 engaged with rail102A (which are obscured in FIG. 2A by the rail 102A), and instruct thecontainer 200 to contract drivers 202C and 202D, causing the container200 to engage and/or make contact with face 104K. The control system 106can then cause the container 200 to travel in the Z dimension along rail102K by engaging the propulsion device of the rail 102K. Conversely, thecontainer 200 may be detached from rail 102K by extending the drivers202C and 202D, causing the container to push away from the rail 102K,and further causing drivers 202E and 202F to become aligned with face104A of rail 102A.

As an additional example, assume that the control system 106 determinesthat the container 200 should be detached from rail 102A and attached torail 102H, enabling movement in the Y dimension. As shown in FIGS. 2Aand 2B, the edge 208C of the container 200 is not yet aligned with rail102H, because the drivers 202A and B cannot extend to contact the rail102H. Accordingly, the control system 106 can cause the container 200 toalign with rail 102H by moving the container 200 a distance of w (thewidth of the rails 102) along the rail 102A in the direction of rail102H. Thereafter, the control system 106 can extend the drivers 202A and202B from the container 202 to contact the rail 102H. The control system106 can then instruct the container 200 to detach the drivers 202engaged with rail 102A, at which point the container 200 is ready tobegin movement in the Y dimension along rail 102H.

While two illustrative examples of transitions between rails 102 areprovided herein, one of skill in the art will appreciate that thecontainer 200 may generally be transitioned between rails by utilizingthe propulsion device of a currently engaged rail 102 to align thecontainer 200 to the desired rail 102, and utilizing drivers 202 of thecontainer to engage the desired rail 102 (and move the container intocontact with the rail 102, if necessary). In instances where directtransition between an engaged rail 102 and a desired rail 102 is notpossible, the control system 106 may transition the container 200 to anintermediary rail 102. For example, in FIGS. 2A and 2B, transitioningthe container 200 from rail 102K to rail 102H may require transitioningthe container 200 from rail 102K to rail 102A, and then from rail 102Ato rail 102H, as is described in more detail with respect to FIG. 6,below.

To stabilize the container 200 during movement throughout the lattice101, the container 200 may include stabilizers 206. Stabilizers 206 areshown in FIG. 2B as extended for illustrative purposes. However, eachstabilizer 206 may initially be retracted into the container 200, andselectively extended by the container 200 to stabilize motion of thecontainer 200 in a predetermined direction associated with thestabilizer 206. The stabilizers 206 may further be compressible (e.g.,via spring-loading) into the container 200 when traveling in thatpredetermined direction. For example, stabilizers 206A and 206Cstabilize movement of the container 200 when moving in the positivedirection of the Y axis, and may be angled to compress when contactingX-dimension rails 102, so long as the container 200 is moving in thepositive direction. Similarly, stabilizers 206B and 206D may stabilizemotion of the container 200 when moving in the negative direction of theY axis, and may be angled to compress into the container 200 whencontacting X-dimensional rails 102 and moving in the negative direction.Individual stabilizers 206 may include friction reducing elements, suchas wheels, ball bearings, or friction reducing coatings, along surfacesexpected to meet rails 102. In some embodiments, the rails 102themselves may additionally or alternatively include friction reducingelements along surfaces expected to contact stabilizers 206.

Stabilizers 206 may be either flush with an edge of the container 200,or offset from the edge by a distance of w (the width of a rail),according to which rail 102 the stabilizer 206 rests on. For example,stabilizers 206A-D are shown in FIG. 2B as offset from edge 208D of thecontainer 200 by a distance w such that the container 200 rests oncontact face 104F of rail 102F while the container 200 is engaged withrail 102H. In contrast, stabilizers 206E-H are shown in FIG. 2B as flushwith the edge 208E of the container 200, such that stabilizers 206E-Hcontact the rail 102B while the container 200 is engaged with rail 102A.Though only two sets of stabilizers 206 are shown in FIGS. 2A and 2B(corresponding to stabilizers 206A through 206D and 206E through 206H,respectively), the container 200 may include additional stabilizers 206(not shown in FIGS. 2A and 2B), as discussed below. In some embodiments,multiple stabilizers 206 may be included along any edge of the container200 to ensure that, when deployed, at least one stabilizer along thatedge of the container 200 is always in contact with a rail 102 of thelattice 101. Moreover, some embodiments of the present application mayutilize stabilizers to conduct electrical power between the lattice 101and the container 200. For example, in one embodiment, rails 102 of thelattice 101 may carry alternating current, which can be transferred tothe container 200 via a driver 202 engaged with a first rail 102 and astabilizer 206 contacting a second rail 102. In another embodiment,rails 102 of the lattice 101 may alternate between carrying positiveelectrical current and providing an electrical ground, both of which canbe transferred to the container 200 via a driver 202 engaged with afirst rail 102 and a stabilizer 206 contacting a second rail 102.Additional configurations providing electrical power to the container200 are described below.

FIGS. 3A and 3B depict the container 200 of FIGS. 2A and 2Bindependently from the lattice 101. Specifically, FIG. 3A shows atop-front view of container 200, while FIG. 3B shows a bottom-rear viewof the container 200. For ease of reference, both FIGS. 3A and 3B willbe discussed simultaneously. The container 200 illustratively depictedincludes six drivers 202: drivers 202A and 202B enabling motion in the Ydirection, drivers 202C and 202D enabling motion in the Z direction, anddrivers 202E and 202F enabling motion in the X direction. Each driver202 is retractable into the container 200 when not utilized for motion.The container 200 further includes stabilizers 206A-H to stabilizemotion of the container 200. Specifically, the stabilizers 206A-Dstabilize the container 200 when utilizing the drivers 202A and 202B,and the stabilizers 206E-H stabilize the container 200 when utilizingthe drivers 202E and 202F. In some embodiments, additional stabilizers206 (not shown in FIGS. 3A and B) may be included within the container200. For example, stabilizers 206 may be included at portions 306 and310 of the container 200 to assist in stabilization of the container 200when moving in the Z dimension. As a further example, stabilizers 206may be included at portions 304 and 308 of the container 200 to assistin stabilization of the container when moving in the Y and X dimensions,respectively.

The container 200 can also include a housing 302 including a computingdevice configured to control functionality of the container 200 based oninstructions received from the control system 106. In one embodiment,the computing device may be an embedded microcontroller containing aprocessor core, memory, and input/output interfaces collectivelyconfigured to execute the operations described herein. In anotherembodiment, the computing device may include one or more distinctprocessors, memories, and input/output interfaces. Illustratively, thecomputing device may be programmed with computer-executable instructionsto control operation of the drivers 202 (e.g., to retract from orcontract into the container 200, and to engage or disengage with therails 102), as well as operation of the stabilizers 206 (e.g., toretract from or contract into the container 200).

In one embodiment, the computing device may be powered by a batteryincluded within the housing 302. In such embodiments, the computingdevice may be configured to communicate with the control device 106 toreport its battery level, and the control device 106 may report thebattery levels of each container 200 to an operator, to ensure thatcontainers are removed and the batteries are replaced prior to thecontainer 200 losing power. In another embodiment, the computing devicemay be powered via the lattice 101 itself, as described in more detailbelow.

The computing device of the container 200 may communicate with thecontrol system 106 via either a wired connection, a wireless connection,or a combination thereof. For example, the housing 302 may include awireless communication unit enabling the computing device to communicatewith the control system 106 via a wireless communication protocol, suchas the 802.11x or BLUETOOTH™ family of protocols. In embodiments wherepower to the container 200 is transmitted through the lattice 101, thehousing 302 may contain a power-line communication unit enablingcommunication over the same power-conducting portions of the lattice 101(e.g., via use of “power-line communication” technologies, which areknown in the art).

FIGS. 4A-D depict a driver 202 that may be used to engage a container200 with the lattice 101. Specifically, FIG. 4A is a first side-view ofa driver 202 in an engaged state; FIG. 4B is a second side-view of thedriver 202 in an engaged state, as rotated 90 degrees along the verticalaxis from the depiction of FIG. 4A; FIG. 4C is a first side-view of thedriver 202 in a disengaged state; and FIG. 4D is a second side-view ofthe driver 202 in a disengaged state, as rotated 90 degrees along thevertical axis from the depiction of FIG. 4C.

As shown in FIGS. 4A-D, the driver 202 includes an extension arm 402, anengagement plate 404, and an engagement pin 406. In the embodiment shownin FIGS. 4A-D, the extension arm 402 is cylindrical, and disposedbetween the engagement plate 404 and a surface of the container 200. Theextension arm 402 may be attached to the container 200 via a linearactuator or other mechanism enabling the arm 402 to retract into thecontainer 200, moving the engagement plate 404 flush with or below thesurface of the container 200 (so as not to inhibit movement of thecontainer 200 when not utilizing the driver 202). Similarly, a linearactuator or other mechanism may enable the extension arm 402 to extendaway from the container 200 in order to meet a rail 102 aligned with theextension arm 202. Accordingly, the length 410 of the extension arm 402can be selected to be at least as long as the widest possible gapbetween a surface of the container 200 and an aligned rail 102. In oneembodiment, the length 410 of the extension arm 402 exceeds the width wof each rail 102 within the lattice 101. Further, the extension arm 202can rotate around its axis, to cause the engagement plate to engage witha rail 102, as described in more detail below. Accordingly, the diameter411of the engagement arm 402 can be sized to fit within an engagementslot of a rail 102 (not shown in FIGS. 4A-D). For example, the diameter411 of the engagement arm 402 can be selected so as not to exceed thewidth of an engagement slot of a rail 102.

The engagement plate 404 can be utilized to engage the driver 202 with arail 102 by passing through an engagement slot in the rail 102 androtating to prevent the driver 202 from disengaging from the rail 102.Accordingly, the engagement plate 404 can be sized such that its width408 does not exceed the interior width of the rail 102 (as shown in moredetail with respect to FIGS. 5A-C, below). The depth 416 of theengagement plate 404 (shown in FIG. 4B) can be selected such that theengagement plate 404 can fit into an engagement slot of a rail 102 whencorrectly aligned with the rail 102. In one embodiment, the engagementplate 404 has a depth 416 that does not exceed the width of anengagement slot in the rail 102.

The engagement pin 406 enables the driver 202 to engage with apropulsion device of a rail 202, such as a drive chain. The engagementpin 406 may be retracted into the driver 202 when not engaged with arail 102, as shown in FIGS. 4C and D, and extended from the driver 202when the driver 202 is engaged with a rail 102, as shown in FIGS. A andB. In one embodiment, the engagement pin 406 is attached to a linearactuator within the driver 202 (or container 200) that enables theengagement pin 406 to extend from or retract into the driver 202. In theillustrative embodiments depicted, the engagement pin 406 iscylindrical, with a height 412 selected to enable the engagement pin 406to engage with a propulsion device of a rail 102 without contacting anyother elements within the rail 102 (e.g., support structures). Thediameter 414 of the engagement pin 406 can be selected to enable the pin406 to engage with slots or holes in the propulsion device of the rail102. For example, where the propulsion device is a roller chain, theengagement pin 406 can be of a diameter smaller than the gaps in theroller chain. Thus, by extending the engagement pin 406, the driver 202can engage with the propulsion device to move the container 200 alongthe rail 102.

FIGS. 5A-C are illustrative diagrams of a portion of a rail 102 of thelattice 101. Specifically, FIG. 5A is an isometric projection of therail 102, while FIGS. 5B and C are cross-section views of the rail 102along the line 512 of FIG. 5A, during and after engagement of a driver202 to the rail 102, respectively.

In the illustrative embodiment of FIGS. 5A-C, the rail 102 is a hollowsquare prism with a width and height both equal to w. In otherembodiments, the rail 102 may be cylindrical, be a rectangular prismwith unequal width and height, or be some other shape. The rail includesan engagement slot 510, which enables a driver 202 of a container 202 toaccess a propulsion device 508 housed within the rail 102.Illustratively, the propulsion device 508 is a chain drive, such as aroller chain. In other embodiments, the propulsion device 508 is a beltor other drive mechanism. As shown in FIGS. 5A-C, the propulsion device508 is slotted to enable the engagement pin 406 of a driver to engagewith the chain, thus pulling the driver 202 (and attached container200), along the rail 102 to move containers 200 within the ASRS lattice101. The propulsion device 508 is illustratively powered by a driveshaft 504, which is attached to a motor of the ASRS lattice 101 (notshown in FIGS. 5A-5C) under control of the control system 106. In someembodiments, gearings or other driving mechanisms may be used in placeof a drive shaft 504. The rail 102 also includes one or more supportmembers 506, which can be static (e.g., support rods) or dynamic members(e.g., gears) within the rail 102. These support members 506 can assistin maintaining the position of the propulsion device 508 as it movesinside the rail 102 (e.g., by preventing sagging of the propulsiondevice 508). While support member 506 is shown in FIG. 5A as protrudingfrom the rail 102, in some instances, the support members 506 may beflush with the surface of the rail 102, or completely enclosed withinthe rail 102.

A driver 202 may engage with a rail 102 by extending the driver 202'sextension arm 402 into the engagement slot of the rail 102, and rotatingthe driver 202, such that the engagement plate 404 of the driver 202contacts an inner surface of the rail 102, as is shown in FIGS. 5B andC. Specifically, as shown in FIG. 5B, a driver 202 may be rotated suchthat its engagement plate 404 moves past the engagement slot 510 of therail into the hollow portion of the rail 102. Thereafter, as shown inFIG. 5C, the driver 202 can be rotated to cause the engagement plate 404to contact an inner surface of the rail 102, preventing the driver 202from being removed from the rail 102. The engagement pin 406 of thedriver 202 can then be extended to contact the propulsion device 508,thereby causing the driver 202 (and associated container 200) to movealong the rail 102 as the propulsion device 508 is powered.

In some embodiments, the rail 102 may provide electrical power, acommunication channel, or both to the container 200. Illustratively, theinner surface of the rail 102 on either side of the engagement slot 510may include a conductive strip 512. While shown in FIG. 5A and 5B asextending from the inner surface of the rail 102, in some instances theconductive strip 512 may be flush with an inner surface of the rail 102.In one embodiment, a first conductive strip 512 provides positiveelectrical power to the driver 202 (or one half of an alternatingcurrent circuit), while the second conductive strip 512 provides anelectrical ground to the driver 202 (or a corresponding half of analternative current circuit). The driver 202 may therefore includecorresponding conductive pads that transmit the electrical power to thecontainer 200. In another embodiment, each rail 102 may provide one halfof an alternating current, which can be transmitted to the container 200via the driver 202 (for a first rail 102), and via a stabilizer 206 incontact with an adjacent rail. In instances where the rails 102 provideelectrical power to the container 200, the container 200 may utilizepower-line communications protocols to transmit and receive informationover the rail 102 to the control system 106. Thus, the control system106 may utilize one or more drivers 202 on a container 200 to engage thecontainer 200 to a rail within the ASRS lattice 101, and utilize thepropulsion device 508 within the rail 102 to move containers throughoutthe lattice 101.

In some instances, portions of the driver 202 or the rail 102 mayinclude friction reducing elements, such as wheels, ball bearings, orfriction reducing coatings, to reduce friction when engaging the driver202 with the rail 102. For example, the extension arm 402, theengagement plate 404, or both may include friction reducing surfaces.Additionally or alternatively, portions of the rail 102 (e.g., thoseportions potentially contacting the driver 202) may include frictionreducing surfaces. For example, the conductive strips 512 may includerolling elements, such as ball bearings, that serve both to reducefriction with an engagement plate 404 and to provide power to thecontainer 200.

With reference to FIG. 6, one illustrative routine 600 will be describedfor moving a container 200 between various rails 102 of the lattice 101depicted in FIG. 1. For example, the routine 600 may be utilized by thecontrol system 106 to move a container 200 from a rail 102 allowingmovement in a first dimension (e.g., the ‘X’ dimension) to a rail 102allowing movement in a second dimension (e.g., the ‘Y’ dimension). Forease of reference, the routine 600 will be described with reference toFIG. 2A, under the assumption that the container 200 is initiallyengaged with rail 102A via rail face 104A (enabling movement in the Xdimension). However, the routine 600 may be implemented with respect toany combination of rails 102 of different dimensions.

The routine 600 begins at block 602, where the control system 106determines a source rail 102 with which the container 200 is presentlyengaged, as well as a destination rail 102 to which the container 200should be moved. Illustratively, the source rail 102 may be determinedby referencing data stored by the control system 106 (e.g., withinmemory or a data store) indicating a current rail 102 on which thecontainer 200 is engaged. Alternatively, the source rail 102 may bedetermined by the control system 106 by issuing a query to the container200 to determine which drivers 202 of the container are currentlyengaged with a rail 102. The destination rail 102 may be determined, forexample, as part of a routine to move the container 200 within thelattice 101, as is described above. For example, the control system 106may determine that a container 200 should be moved in the Y dimension inorder to move the container towards a load/unload location within thelattice 101.

Thereafter, at block 604, the control system 106 determines whether adirect change between the source rail 102 and destination rail 102 ispossible within the lattice 101. In one embodiment, the control system106 may maintain a rule set specifying whether a direct change betweenany two rails 102 is possible. For example, with respect to theconfiguration of the lattice 101 shown in FIG. 1, it is possible to movea container 200 directly from rails 102 enabling movement in the Zdimension to rails 102 enabling movement in the X dimension, or to movea container 200 directly from rails 102 enabling movement in the Xdimension to rails 102 enabling movement in the Z dimension, but not tomove a container 200 directly between rails 102 enabling movement in theZ dimension and rails 102 enabling movement in the Y dimension (due tothe physical configuration of the lattice 101). Of course, differentphysical configurations of the lattice may alter the specific rails 102that a container 200 may move directly between. Illustratively, directmovement between two rails 102 may be possible so long as movement ofthe container 102 along a first rail 102 allows drivers of the containerto align with an appropriate rail face 104 on a second rail 102 (e.g., arail face 104 providing propulsion on the second rail 102).

In the instance that a direct change of rails 102 is possible, theroutine 600 proceeds to block 606, where the control system 106 alignsthe container with a rail face 104 of the destination rail 102.Illustratively, the control system 106 may engage a motor or otherpropulsion device of the source rail 102 (with which the container 200would be presently engaged), to align one or more drivers 202 of thecontainer with a rail face of the destination rail 102. For example,where the source rail 102 is rail 102A of FIG. 2A (enabling movement inthe X dimension) and the destination rail 102 is rail 102K of FIG. 2A(enabling movement in the Z dimension), the control system 106 canprovide power to the propulsion chain of rail 102A to move the container200 in the positive direction within the X dimension, thereby causingthe drivers 202C and 202D to align to face 104K.

Thereafter, at block 608, the control system 106 instructs the container200 to engage the aligned drivers 202 with the face 104 of thedestination rail 102. Continuing with the example provided above, thecontrol system 106 may instruct the container 200 to extend drivers 202Cand 202D, such that an engagement plate 404 of those drivers passesthrough an engagement slot 510 of the rail 102K, and to rotate thedrivers 202C and 202D to lock the engagement plate 404 into theengagement slot 510, thereby beginning engagement of the container 200with the rail 102K.

At block 610, the control system 106 instructs the container 200 todisengage from the source rail 102 (e.g., by instructing the containerto rotate and retract drivers 202 currently engaged with the source rail102). Continuing with the present example, the control system 106 mayinstruct the container 200 to rotate drivers 202E and 202F, such that anengagement plate 404 of those drivers aligns with an engagement slot 510of the rail 102A, and to retract the drivers 202E and 202F to disengagethe container 200 from the rail 102A.

At block 612, the control system 106 instructs the container 200 toretract the drivers 202 in the process of engaging with the destinationrail 102, thereby completing engagement of the container 200 with thedestination rail 102. In some instances, retraction of the drivers 202may cause the container 200 to shift its location within a cavity of thelattice 101. For example, in the example above, a gap of width w mayexist between an initial location of the container 200 and the rail face104K. Thus, by retracting drivers 102C and 102D to engage the containerwith rail 102K may cause the container 200 to shift within the lattice101 to close that gap, such that a face of the container 200 makescontact with rail face 104K. The container 200 may thereafter move alongthe destination rail 102K without contacting rails 102 corresponding toother dimensions (e.g., rail 102A). The routine 600 may thereafter endat block 616. Conversely, extending drivers 102C and 102D may cause thecontainer 200 to shift within the lattice 101 away from the rail 102K,allowing subsequent reengagement with rail 102A.

Returning to block 604, if a direct change between a source rail 102 anddestination rail 102 is not possible, the routine 600 continues to block614, where an additional instance of the routine 600 is implemented inorder to move the container 200 to an intermediate rail 102 that mayallow a direct change to the destination rail 102. For example, wherethe control system 106 is attempting to move a container 200 from rail102K enabling movement in the Z dimension to rail 102H enabling movementin the Y dimension, and such a change is not directly possible, thecontrol system 106 may, at block 614, implement a second instance of theroutine 600 to move the container 200 to rail 102A enabling movement inthe X dimension. After execution of the second instance, the routine 600may continue at block 602. Because direct movement of the container 200from rail 102A to rail 102H is possible, the routine 600 may thencontinue at block 606, as described above. In some embodiments, thecontrol system 106 may determine the intermediate rail 102 utilized byblock 614 based on predetermined rules maintained by the control system106. For example, in the lattice 101, the control system 106 maymaintain a rule that movement from rails 102 enabling movement in the Zdimension to rails 102 enabling movement in the Y dimension shouldutilize an intermediate rail 102 enabling movement in the X direction.The specific rules utilized by the control system 106 may vary based onthe physical construction of the lattice 101.

One skilled in the art will appreciate that the routine 600 may includefewer or more interactions than described above. For example, inaddition to controlling drivers 202 during engagement or disengagementof a container 202 from a rail 102, the control system 106 mayadditionally instruct the container 200 to extend or retract stabilizers206 as appropriate. For example, implementation of block 608 may includeextending stabilizers 206 that stabilize motion in a intended directionalong the destination rail 102, while implementation of block 610 mayinclude retracting stabilizers 206 currently stabilizing motion alongthe source rail 102. Accordingly, the interactions of routine 600 areintended to be illustrative in nature, rather than exhaustive.

The terms “approximately,” “about,” “generally” and “substantially” asused herein represent an amount close to the stated amount that stillperforms a desired function or achieves a desired result. For example,the terms “approximately,” “about,” “generally,” and “substantially” mayrefer to an amount that is within less than 10% of the stated amount. Asused herein, the terms “attached,” “connected,” “mated,” and other suchrelational terms should be construed, unless otherwise noted, to includeremovable, moveable, fixed, adjustable, and/or releasable connections orattachments. The connections/attachments can include direct connectionsand/or connections having intermediate structure between the twocomponents discussed.

All of the methods and processes described above may be embodied in, andfully automated via, software code modules executed by one or morecomputers or processors. Such computers or processors can include adigital signal processor (DSP), an application specific integratedcircuit (ASIC), a field programmable gate array (FPGA) or otherprogrammable logic device, discrete gate or transistor logic, discretehardware components, or any combination thereof designed to perform thefunctions described herein. A processor can be a microprocessor, but inthe alternative, the processor can be a controller, microcontroller, orstate machine, combinations of the same, or the like. A processor caninclude electrical circuitry configured to process computer-executableinstructions. In another embodiment, a processor includes an FPGA orother programmable device that performs logic operations withoutprocessing computer-executable instructions. A processor can also beimplemented as a combination of computing devices, e.g., a combinationof a DSP and a microprocessor, a plurality of microprocessors, one ormore microprocessors in conjunction with a DSP core, or any other suchconfiguration. Although described herein primarily with respect todigital technology, a processor may also include primarily analogcomponents. For example, some or all of the signal processing algorithmsdescribed herein may be implemented in analog circuitry or mixed analogand digital circuitry. A computing environment can include any type ofcomputer system, including, but not limited to, a computer system basedon a microprocessor, a mainframe computer, a digital signal processor, aportable computing device, a device controller, or a computationalengine within an appliance, to name a few. Moreover, code modules may bestored in any type of non-transitory computer-readable medium or othercomputer storage device. Some or all of the methods may alternatively beembodied in specialized computer hardware.

Conditional language such as, among others, “can,” “could,” “might” or“may,” unless specifically stated otherwise, are otherwise understoodwithin the context as used in general to present that certainembodiments include, while other embodiments do not include, certainfeatures, elements and/or steps. Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more embodiments or that one or moreembodiments necessarily include logic for deciding, with or without userinput or prompting, whether these features, elements and/or steps areincluded or are to be performed in any particular embodiment.

Disjunctive language such as the phrase “at least one of X, Y or Z,”unless specifically stated otherwise, is otherwise understood with thecontext as used in general to present that an item, term, etc., may beeither X, Y or Z, or any combination thereof (e.g., X, Y and/or Z).Thus, such disjunctive language is not generally intended to, and shouldnot, imply that certain embodiments require at least one of X, at leastone of Y or at least one of Z to each be present.

Unless otherwise explicitly stated, articles such as ‘a’ or ‘an’ shouldgenerally be interpreted to include one or more described items.Accordingly, phrases such as “a device configured to” are intended toinclude one or more recited devices. Such one or more recited devicescan also be collectively configured to carry out the stated recitations.For example, “a processor configured to carry out recitations A, B andC” can include a first processor configured to carry out recitation Aworking in conjunction with a second processor configured to carry outrecitations B and C.

Although a multidimensional ASRS 100 has been disclosed in the contextof certain embodiments and examples, it will be understood by thoseskilled in the art that the multidimensional ASRS 100 extends beyond thespecifically disclosed embodiments to other alternative embodimentsand/or uses of the embodiments and certain modifications and equivalentsthereof. For example, some embodiments of the multidimensional ASRS 100include bearings (such as rolling-element bearings) along one or morerails 102 to constrain motion of containers 200 to a desired dimensionand to reduce friction along the rails 102. Accordingly, it is intendedthat the scope of the multidimensional ASRS 100 disclosed herein shouldnot be limited by the particular disclosed embodiments described above,but should be determined only by a fair reading of the claims thatfollow.

1. (canceled)
 2. A container comprising: a first surface; a first driverdisposed on the first surface, the first driver including an engagementportion extendable from the first driver to engage a first supportmember of a support structure enabling movement in a first direction; asecond surface perpendicular to the first surface; a second driverdisposed on the second surface, the second driver including anengagement portion extendable from the second driver to engage a secondsupport member of the support structure enabling movement seconddirection perpendicular to the first direction; a third surfaceperpendicular to the second surface and either perpendicular or parallelto the first surface; and a third driver disposed on the third surfaceof the container, the third driver including an engagement portionextendable from the third driver to engage a third support member of thesupport structure enabling movement in a third direction perpendicularto both the first and second directions.
 3. The container of claim 2,wherein the first driver further includes: an engagement platedimensioned to pass through an engagement slot of the first supportmember while the engagement plate is in a first orientation; and anextension arm configured to extend the engagement plate from thecontainer and pass the engagement plate through the engagement slot ofthe first support member; and wherein the engagement portion of thefirst driver comprises an engagement pin.
 4. The container of claim 3,wherein the engagement plate is configured to rotate to a secondorientation with respect to the engagement slot to engage the containerwith the first support member.
 5. The container of claim 2, wherein thecontainer further comprises one or more stabilizers, and wherein the oneor more stabilizers are extendable from the container to the supportstructure while the container is engaged with support structure.
 6. Thecontainer of claim 5, wherein the one or more stabilizers arecompressible into the container to enable movement along the supportstructure while the container is engaged with the support structure. 7.The container of claim 2, wherein the container further comprises abattery providing electrical power to the first, second and thirddrivers.
 8. The container of claim 2, wherein the container furthercomprises a computing device configured to utilize the first, second andthird drivers to selectively engage the container to the supportstructure to move to a desired position within the support structure. 9.The container of claim 8, wherein the desired position is specified by acontrol system external to the container.
 10. The container of claim 9,wherein the container further comprises a wireless communication deviceenabling communication between the computing device and the controlsystem.
 11. The container of claim 9, wherein the container furthercomprises a power-line communication device enabling communicationbetween the computing device and the control system via a power lineincluded within the support structure.
 12. The container of claim 2,wherein the support structure is a lattice structure.
 13. The containerof claim 12, wherein the lattice structure comprises: a first series ofsupport members, including the first support member, spaced at regularintervals and aligned to the first direction; a second series of supportmembers, including the second support member, spaced at regularintervals and aligned to the second direction perpendicular to the firstdirection; a third series of support members, including the thirdsupport member, spaced at regular intervals and aligned to the thirddirection perpendicular to the first and second directions.
 14. Thecontainer of claim 2, wherein the engagement portion extendable from thefirst driver engages a propulsion device within the first supportmember.
 15. The system of claim 14, wherein the propulsion device is atleast one of a drive chain or a drive belt.
 16. The container of claim2, wherein each of the first, second, and third drivers is connected tothe container via a linear actuator enabling the respective first,second, or third driver to be extended from and retracted into thecontainer.
 17. A system comprising: a physical data store includingcomputer-executable instructions to control movement of a container on asupport structure; and a processor configured to execute thecomputer-executable instructions, wherein execution of the instructionscauses the processor to at least: receive a command to engage thecontainer with a first support member of the support structure enablingmovement in a first direction; control a first driver disposed on afirst surface of the container to cause the first driver to extend anengagement portion of the first driver to engage the first supportmember; receive a command to engage the container with a second supportmember of the support structure enabling movement in a second directionperpendicular to the first direction; control a second driver disposedon a second surface of the container perpendicular to the firstdirection to cause the second driver to extend an engagement portion ofthe second driver to engage the second support member; receive a commandto engage the container with a third support member of the supportstructure enabling movement in a third direction perpendicular to thefirst and second directions; and control a third driver disposed on athird surface of the container perpendicular to the first and seconddirections to cause the third driver to extend an engagement portion ofthe third driver to engage the third support member.
 18. The system ofclaim 17, wherein the computer-executable instructions further cause theprocessor to at least to communicate with a control system external tothe container to receive the command to engage the container with thefirst support member.
 19. The system of claim 17, wherein thecomputer-executable instructions further cause the processor to atleast: receive a contents listing for the container; receive a requestfor an item specified within the contents listing; and in response tothe request, cause the container to move to an unload position withinthe support structure by selective engagement with the supportstructure.
 20. The system of claim 17, wherein the command to engage thecontainer with the third support member is received while the containeris engaged with the first support member, and wherein thecomputer-executable instructions further cause the processor to atleast: determine that directly engaging the container with the thirdsupport member is not possible within the support structure while thecontainer is engaged with the first support member; control the seconddriver to engage the container with the second support member; controlthe second driver to disengage the container from the first supportmember; align the third driver with the third support member by movingthe container along the second support member; and control the thirddriver to engage the container with the third support member.
 21. Thesystem of claim 17, wherein the command to engage the container with thesecond support member is received while the container is engaged withthe first support member, wherein the computer-executable instructionsfurther cause the processor to at least: determine that directlyengaging container with the second support member is possible within thesupport structure while the container is engaged with the first supportmember; align the second driver with the second support member by movingthe container along the first support member; and control the seconddriver to engage the container with the second support member.